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Supporting software
These steps are board-independent. Note that a working internet connection is needed.
Open a terminal, then:
- Install git and cmake with the command
sudo apt-get install git cmake curl. - Install docker with the command
curl -sSL https://get.docker.com | sh. This will download and execute an official Docker script that will install the latest docker version of the correct hardware architecture.- Remember to add the current user to the docker group with
sudo usermod -aG docker $USER, so there will be no need for super user privileges when running docker commands in the future (log out and log in again to take effect).
- Remember to add the current user to the docker group with
- Check the correct installation by running the docker "hello world" container with
docker run --rm armhf/hello-world. - Install docker-compose with the commands
sudo apt-get install python-pipandsudo pip install docker-compose.
The APIs as well as a simple tutorial User Manual could be found here: http://www.strawsondesign.com/#!manual-install. To be more specified:
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Regarding to the "odometer" functionality, the board itself doesn't contain this on hardware level, so it is necessary to estimate it by using acceleration data provided by the Inertial Measurement Unit (IMU) on the board. Please refer to http://www.strawsondesign.com/#!manual-imu for details, especially the function read_accel_data() and the data struct.
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Regarding to the Ultrasound sensors, which are connected to the I2C Bus on the vehicle, the expected way of reading the data from these sensors is using rc_i2c_read_XXX() functions, the details of which could be referred here: http://www.strawsondesign.com/#!manual-i2c.
- NOTICE (again): You need to change the physical address of one of the two Ultrasound sensors in order to achieve the correct functionality. Please refer to the wiki page https://github.com/chalmers-revere/opendlv.scaledcars/wiki/Notes-on-sensors-and-actuators.
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The source code of the APIs mentioned above could be found here: https://github.com/StrawsonDesign/Robotics_Cape_Installer.
- In case you would like to cross-compile your Docker image, please note that the APIs are currently only functional on Debian Jessie. In other words, the builder in your Dockerfile should be indicated as "pipill/armhf-debian:jessie".